CN104735778A - Segmentation positioning method for calculating possible position area of unknown node - Google Patents
Segmentation positioning method for calculating possible position area of unknown node Download PDFInfo
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- CN104735778A CN104735778A CN201310705362.6A CN201310705362A CN104735778A CN 104735778 A CN104735778 A CN 104735778A CN 201310705362 A CN201310705362 A CN 201310705362A CN 104735778 A CN104735778 A CN 104735778A
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- unknown node
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The invention discloses a segmentation positioning method for calculating the possible position area of an unknown node. The segmentation positioning method includes the steps that the unknown node collects information of all anchor point neighbors within n jumps; a segmentation direction is selected, the overlapped area of the area between two tangent lines of the anchor point neighbors relative to virtual radiation range boundaries is worked out, and the initial possible position area of the unknown node is obtained; another segmentation direction is adopted, the overlapped area of the area between two tangent lines of all the virtual radiation range boundaries is worked out, and an updated possible position area is obtained by segmenting the current possible position area of the unknown node through the two boundary tangent lines of the area; another segmentation direction is adopted, the former step is executed again for N times; the mass center of the possible position area of the unknown node serves as the estimated position of the unknown node. The calculation complexity and calculation process of the possible position area of the unknown node are simplified, the calculation result is particularly close to a theoretical calculating value, and distribution type calculation can be realized.
Description
Technical field
The present invention relates to wireless network technologies field, particularly a kind of cutting localization method calculating the possible position region of unknown node.
Background technology
The application in airport of wireless network and Sensor Network is very general, and the dependence of these application location information is also more and more serious, and the localization method therefore relying on this kind of network is paid attention to always very much.At present, generally the node locating algorithm of wireless sensor network is divided into two classes: a class is the localization method based on measuring distance (range-based); Another kind is the localization method of non-ranging (range-free).Although high based on the localization method positioning precision of range finding, the special hardware of general needs realizes the measurement to internodal distance or angle, and cost is higher; But not although distance-measuring and positioning method positioning precision is limited, owing to not needing extra hardware support, therefore cost is lower.Because different application has different requirements to positioning precision, range-free localization algorithm can meet the requirement of a lot of application system to positioning precision, and its cost is minimum, and therefore this kind of algorithm is more and more favored.But the positioning precision of existing range-free localization algorithm is all very limited, such as: Bounding-Box, DV-HOP, APIT, SOM etc., their positioning precision is not high, which has limited the application in systems in practice of these methods.
Bounding-Box algorithm (the Simic S. proposed by Simic in 2002, and Sastry S.: ' Distributed localization in wireless ad hoc networks ', UC Berkeley, Tech. Rep., UCB/ERL M02/26,2002) belong to non-ranging algorithm, achieve the location to unknown node by the common factor of the radiation scope asking the direct anchor point neighbours of unknown node.First the radiation scope of the direct anchor point neighbours of unknown node is reduced to a square by it, then obtains the overlapping region of the square radiation scope of all direct anchor point neighbours of unknown node, and using the position of the center of overlapping region as unknown node.Bounding-Box algorithm only make use of one of unknown node and jumps anchor point neighbours, its positioning precision and Signal Coverage Percentage are not high, and the method for simplifying that Bounding-Box calculates its unknown node possible position region makes its positioning precision and theoretical precision have relatively large deviation.
DV-hop algorithm is the range-free localization algorithm (Niculescu D. and Nath B.: ' DV based positioning in ad hoc networks ' Telecommun. Syst. that Niculescu proposed in 2003,2003,22, (1-4), pp. 267-280).This algorithm was made up of 3 stages: first, allows each anchor node acquisition other each anchor nodes except oneself apart from the jumping figure of oneself, and allow each unknown node obtain the jumping figure of each anchor node apart from oneself by neighbor uni-cast algorithm; Secondly, each anchor node calculates other each anchor nodes except oneself Average hop distance to oneself respectively, and this information is sent to the unknown node of its periphery, unknown node then using minimum apart from the jumping figure of oneself and the anchor point receiving message at first calculates the Average hop distance of Average hop distance as each anchor point to oneself of gained, and be multiplied by corresponding jumping figure and obtain the estimated distance of each anchor point apart from oneself; Finally use the position of trilateration determination node.The Signal Coverage Percentage of the method obtains larger raising, but the positioning precision that the method reaches is not high yet, is of limited application.
APIT algorithm is the range-free localization algorithm that Tian proposed in 2003, and be published in (He T. on ACM Trans.Embed. Comput. Syst in 2005, Huang C., Blum B.M., Stankovic, J.A., and Abdelzaher, T.F.: ' Rangefree localization and its impact on large scale sensor networks ', ACM Trans.Embed. Comput. Syst., 2005,4, (4), pp. 877-906.).First this algorithm collects the information of all neighbours' anchor nodes of unknown node, then the triangle whether unknown node is positioned at three different anchor node compositions is tested, calculate all leg-of-mutton overlapping regions comprising this unknown node, finally with the barycenter in this region coordinate as unknown node.The method obtains higher precision, but its Signal Coverage Percentage is limited.Especially for those unknown node not in any triangle be made up of three anchor points, the method cannot be located.Locating area is divided into a lot of small grid by APIT, and is numbered grid, by obtain appear at all comprise the delta-shaped region of unknown node grid numbering and obtain overlapping region, the method needs whole network label, and computational process is loaded down with trivial details.
SOM algorithm (Giorgetti, G., Gupta, S.K., and Manes, G.: ' Wireless localization using selforganizing maps '. Intl. Conf. on Information processing in sensor networks, (IPSN), Cambridge, MA, USA, Aptil, 2007)) be the range-free localization algorithm that Giorgetti proposed in 2007.This algorithm utilizes the internodal jumping figure relation of whole network, and achieves the location estimation to node by the method for machine learning.The method increase Signal Coverage Percentage, and its positioning precision also has and significantly promotes, but still cannot meet the application demand of some needs higher positioning accuracy, and the method needs centralized calculation, communication overhead and computing cost are all larger.
To sum up, Bounding Box, DV-HOP, the method positioning precisioies such as APIT are not high and Signal Coverage Percentage can not meet application needs completely, although the Signal Coverage Percentage of SOM is improved, can not Distributed Calculation be realized, and due to the internodal hop count information of needs collection whole network, the traffic is large, calculation of complex.And the computational methods of Bounding-Box and APIT to unknown node possible position region have deficiency, therefore, this invention exploits the new method calculating unknown node possible position region, be well suited for engineer applied.
In civil aviaton field, the application of various wireless network is very universal, many application need the positional information of degree of precision, but specialised hardware need not be spent to go to realize accurate location, this is just for need not the range-free localization method that is fixing or mobile terminal location that be applicable to of any assist location equipment provide wide application space.The present invention proposes just under a kind of like this application and requirement background.
Summary of the invention
Goal of the invention of the present invention is: for above-mentioned Problems existing, provides a kind of cutting localization method calculating the possible position region of unknown node.The method is specially adapted to the engineer applied of wireless sensor network node location, can reduce the computational complexity that unknown node calculates its possible position region (being abbreviated as PLA), and can improve the positioning precision of node.
The technical solution used in the present invention is such:
The node disposed in actual scene is divided into two classes by the present invention: a class is anchor point, i.e. the node of known self-position coordinate, such as: with the node of GPS, be labeled as
; Another kind of is unknown node, does not namely know the node of self-position coordinate, is labeled as
, their needs realize the location to self by means of certain localization method.Indication node of the present invention comprises anchor point (anchor node) and unknown node.
The present invention gives the definition of virtual radiation scope (being abbreviated as VRR): certain anchor point
relative to certain unknown node
virtual radiation scope be that so round scope---the centre coordinate of this circle is exactly
the position coordinates at place, this radius of a circle is kR.Wherein k is anchor point
to certain unknown node
jumping figure, R is the maximum of the actual emanations radius of node, and the actual emanations radius of usual all nodes (comprising anchor point and unknown node) gets identical value.
The virtual radiation scope of anchor point is a relative concept, and anchor point only just has virtual radiation scope relative to certain unknown node.For different unknown node, the virtual radiation scope of same anchor point may be different.In addition, when certain anchor point is a hop neighbor of certain unknown node, then this anchor point is exactly its actual radiation scope relative to the virtual radiation scope of this unknown node.
Put it briefly, the inventive method comprises: by introducing unknown node
k-hop anchor point neighbours
relative to
virtual radiation scope (its value is expressed as
) this concept, thus orientation problem is converted into asks this unknown node
all n jump within the relative unknown node of anchor point neighbours
the problem of overlapping region of virtual radiation scope.This overlapping region is exactly unknown node
in the possible position region (being abbreviated as PLA) that current time only may occur, current time unknown node
the place beyond this region can not be appeared at.This possible position region can be expressed as
.
Calculate the cutting localization method in the possible position region of unknown node, comprise the following steps:
Step one, collect the positional information of the whole anchor point neighbours within the n jumping of certain unknown node, and according to the actual jumping figure k(k≤n of each anchor point neighbours apart from this unknown node) determine that it is kR relative to the radius of the virtual radiation scope of this unknown node, wherein, R is the maximum of the actual emanations radius of all nodes;
In the wireless network, first to the positional information of each anchor point be embedded in neighbor uni-cast information, while utilizing existing neighbor uni-cast algorithm realization neighbor uni-cast, to realize the transmission of the positional information to anchor point.That is, allow all unknown node while knowing the jumping figure of the anchor point neighbours of oneself apart from oneself, the particular location coordinate of these anchor points neighbours can also be known.
When calculating, selected n value is larger, and certain positioning precision is higher, but the cost of system is higher.Generally, n value is set to 2 ~ 5.
Step 2, select a cutting direction, this cutting direction is obtained two tangent lines of each anchor point neighbours relative to the virtual radiation range boundary of this unknown node of this unknown node, obtain the region formed between these two tangent lines again, finally obtain the overlapping region in the region formed between two tangent lines corresponding to all virtual radiation range boundary, tentatively obtain the initial possible position region of unknown node;
At this moment, two border tangent lines of this unknown node gained overlapping region are two tangent lines that on selected cutting direction, distance unknown node is nearest.
Step 3, changes a cutting direction, obtains two tangent lines of each anchor point neighbours relative to the border of the virtual radiation scope of this unknown node, then the overlapping region in region that two tangent lines on border obtaining all these virtual radiation scopes form.Equally, two border tangent lines of this step gained overlapping region are also two tangent lines that on selected cutting direction, distance unknown node is nearest.
Step 4, utilizes two border tangent lines of step 3 gained overlapping region to go to the current possible position region of cutting unknown node to obtain the possible position region of unknown node renewal
.
Step 5, reselects cutting direction, repeated execution of steps three and step 4 N time (N >=0), until obtain satisfied unknown node possible position region.Cutting number of times is more, and unknown node possible position region more will level off to theoretical value
.
Cutting direction can preset in advance, then step 5 can stop repetition after all performing one time according to all directions of presetting.
Very flexible to the selection in cutting direction, such as: 0 degree, 90 degree, 45 degree, 135 degree, 22.5 degree, 67.5 degree, 112.5 degree can be selected successively Also 0 degree to 180 degree (or 360 degree) scope can be divided at equal intervals, then according to increase progressively or decreasing fashion once arranges cutting direction etc.
More to the cutting number of times in the possible position region of unknown node, the area in this possible position region more levels off to theoretical value, and meanwhile, the location of unknown node is also more accurate.
Step 6, will calculate the estimated position of barycenter as this unknown node in the unknown node possible position region of gained.
In sum, owing to have employed technique scheme, the invention has the beneficial effects as follows:
1, the present invention is a distributed computing method, is specially adapted to engineer applied, can simplify computation complexity and computational process that unknown node calculates the possible position region of oneself;
2, the present invention calculates the possible position region of the unknown node of gained especially close to calculated value, because along with the increase of selected cutting number of times, the possible position region of cutting gained will converge on calculated value;
3, the present invention can arrange different jumping figure n based on positioning accuracy request;
4, the present invention is very flexible to the selection in cutting direction.
Accompanying drawing explanation
Fig. 1 is embodiment 1 collects the positional information of anchor point neighbours around design sketch by unknown node;
Fig. 2 is that embodiment 1 utilizes cutting method to carry out the design sketch of cutting on 0 degree of direction;
Fig. 3 is that embodiment 1 utilizes cutting method to carry out the design sketch of cutting on 0 degree of direction and 90 degree of directions;
Fig. 4 is that embodiment 1 utilizes cutting method to carry out the design sketch of cutting on 0 degree, 90 degree, 45 degree and 135 degree of directions;
Mark in Fig. 1-4: U
1for unknown node, R is the maximum of the radiation radius of the true radiation scope of node, and anchor is anchor point neighbours, and unknown is unknown node.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
embodiment 1:
Calculate the cutting localization method in the possible position region of unknown node, comprise the following steps:
Step one, collects certain unknown node U
13 jump within whole anchor point neighbours positional information and distance unknown node U
1hop count information, and according to each anchor point neighbours distance unknown node U
1actual jumping figure k(1≤k≤3) determine that it is relative to unknown node U
1the radius of virtual radiation scope be kR, wherein, R is the maximum of the radiation radius of the actual emanations scope of all nodes; The positional information of the anchor point neighbours in the present embodiment as shown in Figure 1.
Step 2, selects 0 degree of cutting direction, this cutting direction is obtained three anchor point neighbours relative to unknown node U
1two tangent lines of virtual radiation range boundary, then obtain the region formed between two tangent lines, finally obtain the overlapping region of two tangent line institute compositing areas corresponding to all virtual radiation range boundary, tentatively obtain U
1initial possible position region, as shown in Figure 2.
Step 3, changes 90 degree of cutting directions, asks each anchor point neighbours relative to unknown node U
1two tangent lines of virtual radiation range boundary, then obtain the overlapping region in the region that two tangent lines corresponding to all these virtual radiation range boundary form;
Step 4, utilizes two border tangent lines of step 3 gained overlapping region to remove cutting unknown node U
1current possible position region obtain unknown node U
1the possible position region of renewal, as shown in Figure 3.
Step 5, reselects cutting direction, repeated execution of steps three and step 42 times, selects 45 degree of cutting directions and 135 degree of cutting directions respectively, as shown in Figure 4 when repeating for twice.
Step 6, will calculate the unknown node U of gained
1the barycenter in possible position region as unknown node U
1estimated position.
Because of last gained unknown node U
1possible position region be a convex polygon, therefore, the mean value by asking for the mean value of the x coordinate on all summits of this convex polygon and y coordinate replaces centroid algorithm to obtain U
1estimated position.
embodiment 2:
Calculate the cutting localization method in the possible position region of unknown node, comprise the following steps:
Step one, collects unknown node U
13 jump within the positional information of each anchor point neighbours and distance U
1hop count information, and according to actual jumping figure k(1≤k≤3 of each anchor point neighbours) determine that it is relative to unknown node U
1the radius of virtual radiation scope be kR, wherein, R is the maximum of the radiation radius of the actual emanations scope of all nodes; The positional information of the anchor point neighbours in the present embodiment as shown in Figure 1.
Step 2, selects 0 degree of cutting direction, this cutting direction is obtained each anchor point neighbours relative to unknown node U
1two tangent lines of virtual radiation range boundary, then obtain the region formed between two tangent lines, finally obtain the overlapping region of two tangent line institute compositing areas corresponding to all virtual radiation range boundary, tentatively obtain unknown node U
1initial possible position region, as shown in Figure 2.
Step 3, changes 90 degree of cutting directions, asks each anchor point neighbours relative to unknown node U
1two tangent lines of virtual radiation range boundary, then the overlapping region in region that two tangent lines obtaining all these virtual radiation range boundary form;
Step 4, utilizes two border tangent lines of step 3 gained overlapping region to remove cutting unknown node U
1current possible position region obtain unknown node U
1the possible position region of renewal, as shown in Figure 3;
Step 5, repeated execution of steps three and step 40 time;
Step 6, will calculate the unknown node U of gained
1the barycenter in possible position region as unknown node U
1estimated position.
Because of last gained unknown node U
1possible position region be a convex polygon, therefore, the mean value by asking for the mean value of the x coordinate on all summits of this convex polygon and y coordinate replaces centroid algorithm to obtain U
1estimated position.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. calculate the cutting localization method in the possible position region of unknown node, it is characterized in that comprising the following steps:
Step one, unknown node collects the positional information of the whole anchor point neighbours within the n jumping of oneself, and according to the actual jumping figure k(1≤k≤n of each anchor point neighbours apart from this unknown node) determine that it is kR relative to the radius of the virtual radiation scope of this unknown node, wherein, R is the maximum of the radiation radius of the true radiation scope of all nodes;
Step 2, select a cutting direction, this cutting direction is obtained two tangent lines of the virtual radiation range boundary of each anchor point neighbours of this unknown node, obtain the region formed between these two tangent lines again, finally obtain the overlapping region in the region formed between all these two tangent lines corresponding to virtual radiation range boundary, tentatively obtain the initial possible position region of unknown node;
Step 3, changes a cutting direction, asks each anchor point neighbours relative to two tangent lines of the virtual radiation range boundary of this unknown node, then the overlapping region in region that two tangent lines obtaining all these virtual radiation range boundary form;
Step 4, utilizes two border tangent lines of step 3 gained overlapping region to go to the current possible position region of cutting unknown node to obtain the possible position region of unknown node renewal;
Step 5, reselects cutting direction, repeated execution of steps three and step 4 N time (N >=0), until obtain satisfied unknown node possible position region;
Step 6, will calculate the estimated position of barycenter as this unknown node in the unknown node possible position region of gained.
2. a kind of cutting localization method calculating the possible position region of unknown node according to claim 1, is characterized in that: described step 3 and step 4 perform once altogether.
3. a kind of cutting localization method calculating the possible position region of unknown node according to claim 2, is characterized in that: the cutting set direction of described step 20 degree, the cutting set direction of described step 3 90 degree.
4. a kind of cutting localization method calculating the possible position region of unknown node according to claim 1, is characterized in that: described step 3 and step 4 perform three times altogether.
5. a kind of cutting localization method calculating the possible position region of unknown node according to claim 4, it is characterized in that: the cutting set direction of described step 20 degree, the cutting set direction of described step 3 90 degree, the cutting set direction when repeating for twice 45 degree and 135 degree.
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